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[conf] bebop with secondary ahrs

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MLKF as primary AHRS
ICQ as secondary AHRS
This commit is contained in:
Felix Ruess
2015-03-09 18:49:38 +01:00
parent 6573e39a57
commit 8a8ec7ee9a
3 changed files with 7 additions and 3 deletions
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conf/airframes/bebop.xml
+5 -1
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@@ -21,11 +21,15 @@
<subsystem name="imu" type="bebop"/>
<subsystem name="gps" type="furuno"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ahrs" type="float_mlkf"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
</subsystem>
<subsystem name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
<load name="geo_mag.xml"/>
<load name="send_imu_mag_current.xml"/>
<!--load name="logger_file.xml">
<define name="FILE_LOGGER_PATH" value="\\\"/data/ftp/internal_000/\\\""/>
conf/conf_example.xml
+1 -1
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@@ -226,7 +226,7 @@
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules=""
gui_color="red"
/>
conf/conf_tests.xml
+1 -1
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@@ -358,7 +358,7 @@
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules=""
gui_color="red"
/>